CN107036754B - Six-dimensional force sensor capable of sensing contact force and traction force - Google Patents
Six-dimensional force sensor capable of sensing contact force and traction force Download PDFInfo
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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Abstract
The invention belongs to the field of sensors, and discloses a six-dimensional force sensor capable of sensing contact force and traction force, which comprises a contact force sensor and a traction force sensor, wherein the contact force sensor comprises a first elastic body, a fixed flange, a first fixed support ring and a fixed shell; each first supporting beam in the first elastic body is respectively provided with a first detection through hole and a second detection through hole, and a strain gauge for measuring contact force is attached to the outer wall of each first supporting beam; the traction force sensor comprises a stressed shell, a second elastic body and a second fixed support ring, wherein the second elastic body and the second fixed support ring are arranged in the stressed shell; each second supporting beam in the second elastic body is provided with a third detection through hole and a fourth detection through hole, and strain gauges used for measuring traction force are attached to the outer walls of the second supporting beams respectively. The robot end effector has the capability of simultaneously perceiving the traction force of a human acting on the tail end of the robot and the contact force between the robot end effector and the environment, and can realize the simultaneous and accurate perception of the contact force and the traction force.
Description
Technical Field
The invention belongs to the field of sensors, and particularly relates to a six-dimensional force sensor.
Background
At present, industrial robots are widely applied to industries such as automobiles, electrical and electronic industries, machinery, rubber chemical industry, food and beverage industries and mainly used for welding, assembling, spraying, carrying, stacking, loading and unloading, grinding and polishing and the like. The application of the industrial robot improves the product quality, reduces the enterprise cost, improves the production efficiency of enterprises, lightens the labor amount of workers and relieves the workers from simple and repeated labor. However, the existing industrial robot mainly replaces workers on a flow production line to perform simple and repetitive work, and the work fully exerts the advantages of the robot, such as precision, strength, speed, environmental tolerance and the like, which are difficult to match. The robot is limited in that the robot is difficult to have strong environment perception capability, learning capability, anticipation capability, self-regulation capability, logical reasoning capability and the like a human, and the robot is difficult to completely replace the human to carry out complex work. However, the human body is prone to physical and psychological phenomena such as fatigue, physical injury, lack of concentration of energy, boredom, and irritability after long-term high-intensity work due to physical and psychological factors of the human body. In order to be able to free people from intensive tasks, a man-machine cooperation is required to achieve complementary advantages.
In order to realize human-computer cooperation, the robot needs to sense and understand the intention of the human, that is, the robot needs to be assisted by a sensor to sense the intention of the human. Among the sensors, force sensors have become one of the most important robot sensors due to their precise sensing of the contact force of the robot with the external environment. The force sensor is introduced into the industrial robot control system, so that the industrial robot has the functions of direct teaching, curved surface tracking, precise assembly, grinding, deburring, scrubbing and the like, and the application field of the industrial robot can be greatly expanded. Force sensors for robots are classified into joint type force sensors, wrist type force sensors, and finger type force sensors. The wrist force sensor is arranged between the wrist and the end effector of the robot, can obtain most force information in the working process of the robot, and is a common force sensor in the force control of the industrial robot due to the advantages of high precision, good reliability, convenient use and the like.
The existing wrist type force sensor is only provided with one force sensing unit, and can sense the interaction force between the end effector and the environment or a human hand, so that the compliance to the environment or a human intention is realized. When the robot end effector and the environment and the robot end simultaneously have interaction force, the existing wrist force sensor cannot simultaneously and accurately sense the magnitude and the direction of the force applied to the robot end by the robot and the interaction force between the robot end effector and the environment.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides the six-dimensional force sensor capable of sensing the contact force and the traction force, which can realize the simultaneous and accurate sensing of the interaction force between the robot end effector and the environment and the interaction force of the robot acting on the end of the robot when the interaction force exists between the robot end effector and the environment and between the robot and the end of the robot.
To achieve the above object, according to the present invention, there is provided a six-dimensional force sensor capable of sensing a contact force and a traction force, characterized by comprising a contact force sensor and a traction force sensor, wherein,
the contact force sensor comprises a first elastic body, a fixed flange, a first fixed support ring and a fixed shell, wherein the first elastic body comprises a contact force detection cross beam and a stressed disc, the contact force detection cross beam comprises a first middle support shaft and four first support beams uniformly arranged on the first middle support shaft in the circumferential direction, the first middle support shaft is fixedly connected with the stressed disc, the fixed flange is provided with four first clamping grooves at positions corresponding to the four first support beams, the first fixed support ring is also provided with four second clamping grooves at positions corresponding to the four first support beams, one end of each first support beam respectively extends into one first clamping groove and one second clamping groove, the first fixed support ring is fixedly connected to the fixed flange, the fixed shell is fixedly connected to the first fixed support ring, and the stressed disc is exposed out of the fixed shell;
each first supporting beam is provided with a first detection through hole and a second detection through hole respectively, the first detection through hole and the second detection through hole are arranged along the longitudinal direction of the first supporting beam, the distance from the first detection through hole to the first middle supporting shaft is smaller than the distance from the second detection through hole to the first middle supporting shaft, the depth direction of the first detection through hole is consistent with the longitudinal direction of the first middle supporting shaft, the depth direction of the second detection through hole is consistent with the transverse direction of the first middle supporting shaft, and strain gauges for measuring contact force are attached to the outer wall of the first supporting beam at positions corresponding to the first detection through hole and the second detection through hole respectively;
the traction sensor comprises a stressed shell, and a second elastic body and a second fixed supporting ring which are arranged in the stressed shell, wherein the second elastic body is provided with a traction detection crossed beam, the traction detection crossed beam comprises a second middle supporting shaft and four second supporting beams which are uniformly arranged on the second middle supporting shaft in the circumferential direction, the second middle supporting shaft is fixedly connected with the fixed flange, the inner wall of the stressed shell is provided with four bosses at positions corresponding to the four second supporting beams, each second supporting beam is respectively placed on one boss, the second fixed supporting ring is provided with four third clamping grooves at positions corresponding to the four second supporting beams, one end of each second supporting beam respectively extends into one third clamping groove, and the second fixed supporting ring is fixedly arranged on the inner wall of the stressed shell and tightly presses each second supporting beam on the boss;
each second supporting beam is provided with a third detection through hole and a fourth detection through hole respectively, the third detection through hole and the fourth detection through hole are arranged along the longitudinal direction of the second supporting beam, the distance from the third detection through hole to the second middle supporting shaft is smaller than the distance from the fourth detection through hole to the second middle supporting shaft, the depth direction of the third detection through hole is consistent with the longitudinal direction of the second middle supporting shaft, and the depth direction of the fourth detection through hole is consistent with the transverse direction of the second middle supporting shaft; strain gauges for measuring traction force are respectively attached to the outer wall of the second supporting beam at positions corresponding to the third detection through hole and the fourth detection through hole.
Preferably, each first supporting beam comprises a first detection block and a second detection block, one end of the first detection block is fixed to the first middle supporting shaft, the other end of the first detection block is connected with the second detection block, and the first detection block and the second detection block are respectively provided with a first detection through hole and a second detection through hole.
Preferably, the fixing flange extends into the force-bearing shell.
Preferably, the second elastic body is further provided with a fixing and supporting disc fixedly connected with the second middle supporting shaft, and a connecting hole is formed in the fixing and supporting disc so as to connect the traction force sensor to the tail end of the robot.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1) The invention can measure the contact force applied to the stressed disc and the traction force applied to the stressed shell, has the capability of simultaneously sensing the traction force applied to the tail end of the robot by a human and the contact force between the end effector of the robot and the environment, can realize the simultaneous and accurate sensing of the contact force and the traction force, is favorable for promoting the research progress of the industrial robot and is also favorable for expanding the application range of the industrial robot.
2) The first elastic body and the second elastic body respectively use the contact force detection crossed beam and the traction force detection crossed beam, and strain sensitive points on the elastic bodies are only sensitive to corresponding measured single-dimensional force (couple) and are not easily influenced by forces (couples) in other directions, so that the coupling phenomenon of the elastic bodies is not obvious.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an exploded schematic view of the present invention;
FIG. 3 is a schematic view in cross section of the invention in rotation;
FIG. 4 is a schematic perspective view of a first elastomer according to the present invention;
FIG. 5 is a front view of a first elastic body according to the present invention
FIG. 6 is a plan view of a first elastic body according to the present invention;
FIG. 7 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 5;
FIG. 8 is a schematic view of the structure of a second elastic body in the present invention;
FIG. 9 is a front view of a second resilient body;
fig. 10 is a sectional view taken along line B-B in fig. 9.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 to 10, a six-dimensional force sensor capable of sensing a contact force and a traction force includes a contact force sensor 1 and a traction force sensor 2, wherein,
the contact force sensor 1 comprises a first elastic body 11, a fixed flange 12, a first fixed support ring 13 and a fixed shell 14, wherein the first elastic body 11 comprises a contact force detection cross beam 15 and a stressed disc 16, the contact force detection cross beam 15 comprises a first middle support shaft 17 and four first support beams 18 uniformly arranged on the first middle support shaft 17 in the circumferential direction, the first middle support shaft 17 is fixedly connected with the stressed disc 16, the fixed flange 12 is provided with four first clamping grooves 19 at positions corresponding to the four first support beams 18, the first fixed support ring 13 is also provided with four second clamping grooves 110 at positions corresponding to the four first support beams 18, one end of each first support beam 18 respectively extends into one first clamping groove 19 and one second clamping groove 110, the first fixed support ring 13 is fixedly connected to the fixed flange 12, the fixed shell 14 is fixedly connected to the first fixed support ring 13, and the stressed disc 16 is exposed out of the fixed shell 14;
each first supporting beam 18 is provided with a first detection through hole 111 and a second detection through hole 112, the first detection through hole 111 and the second detection through hole 112 are arranged along the longitudinal direction of the first supporting beam 18, the distance from the first detection through hole 111 to the first intermediate supporting shaft 17 is smaller than the distance from the second detection through hole 112 to the first intermediate supporting shaft 17, the depth direction of the first detection through hole 111 is consistent with the longitudinal direction of the first intermediate supporting shaft 17, the depth direction of the second detection through hole 112 is consistent with the transverse direction of the first intermediate supporting shaft 17, and strain gauges for measuring contact force are attached to the outer wall of the first supporting beam 18 at positions corresponding to the first detection through hole 111 and the second detection through hole 112 respectively;
the traction sensor 2 comprises a force-bearing shell 21, and a second elastic body 22 and a second fixed supporting ring 23 which are arranged in the force-bearing shell 21, wherein the second elastic body 22 is provided with a traction detection cross beam 24, the traction detection cross beam 24 comprises a second middle supporting shaft 25 and four second supporting beams 26 which are uniformly arranged on the second middle supporting shaft 25 in the circumferential direction, the second middle supporting shaft 25 is fixedly connected with the fixed flange 12, the inner wall of the force-bearing shell 21 is provided with four bosses 27 at positions corresponding to the four second supporting beams 26, each second supporting beam 26 is respectively rested on one boss 27, the second fixed supporting ring 23 is provided with four third clamping grooves 28 at positions corresponding to the four second supporting beams 26, one end of each second supporting beam 26 respectively extends into one third clamping groove 28, the second fixed supporting ring 23 is fixedly arranged on the inner wall of the force-bearing shell 21 and presses each second supporting beam 26 on the boss 27;
each second support beam 26 is provided with a third detection through hole 29 and a fourth detection through hole 210, the third detection through hole 29 and the fourth detection through hole 210 are arranged along the longitudinal direction of the second support beam 26, the distance from the third detection through hole 29 to the second intermediate support shaft 25 is smaller than the distance from the fourth detection through hole 210 to the second intermediate support shaft 25, the depth direction of the third detection through hole 29 is consistent with the longitudinal direction of the second intermediate support shaft 25, and the depth direction of the fourth detection through hole 210 is consistent with the transverse direction of the second intermediate support shaft 25; strain gauges for measuring the traction force are attached to the outer walls of the second support beams 26 at positions corresponding to the third detection through holes 29 and the fourth detection through holes 210, respectively.
Further, a gap exists between an end face of one end of each first supporting beam 18, which is far away from the first intermediate supporting shaft 17, and a face, which is parallel to the end face, of the first clamping groove 19 of the fixing flange 12 and the second clamping groove 110 of the first fixing and supporting ring 13.
Further, a gap exists between an end surface of one end of each second supporting beam 26, which is far away from the second middle supporting shaft 25, and a surface parallel to the end surface in the third clamping groove 28 of the second fixed supporting ring 23.
Further, each first support beam 18 comprises a first detection block 113 and a second detection block 114, one end of the first detection block 113 is fixed on the first middle support shaft 17, the other end of the first detection block 113 is connected with the second detection block 114, and the first detection block 113 and the second detection block 114 are respectively provided with a first detection through hole 111 and a second detection through hole 112.
Further, the fixing flange 12 extends into the force-bearing housing 21.
Further, the second elastic body 22 further has a fixing and supporting disc 211 fixedly connected with the second intermediate supporting shaft 25, and the fixing and supporting disc 211 is provided with a connecting hole so as to connect the traction sensor 2 to the end of the robot.
The contact force sensor 1 is connected with the traction force sensor 2 in series through screw connection, when the contact force sensor is applied, the stress disc 16 of the contact force sensor 1 is connected with the end effector to sense the contact force between the end effector of the industrial robot and the environment, the fixed support disc 211 of the traction force sensor 2 is connected with the tail end of the robot to sense the traction force of the human acting on the industrial robot, the measured value on the contact force sensor 1 is not influenced by the traction force, and the measured value of the traction force sensor 2 is not influenced by the contact force.
The six-dimensional force sensor provided by the invention is used for sensing contact force and traction force, and the working principle is as follows:
(1) Operating principle of the contact force sensor 1
A contact force is applied to the stressed disk 16 of the first elastic body 11, so that the first elastic body 11 generates a strain linearly related to the contact force due to stress deformation, and a strain gauge attached to the first elastic body 11 is measured (see point m in fig. 5 and 6 for strain gauge position reference) a1 、m a2 、m b1 、m b2 And point n in FIG. 7 a1 、n a2 、n b1 、n b2 ) Output strain valueThe magnitude of the contact force is realized.
The contact force and moment acting on the stressed disk 16 of the first elastic body 11 can be decomposed into F x 、F y 、F z And M x 、M y 、M z : at F x Under the action of the force, the first detecting block 113 in the beam b-b of the first elastic body 11 is subjected to bending deformation so as to cause the point n b1 、n b2 Is strained by measuring point n b1 、n b2 The strain value of (A) can realize F x Measuring (2); at F y Under the action of the force, the first detection block 113 in the beam a-a of the first elastic body 11 generates bending deformation to cause the point n a1 、n a2 Is strained by measuring point n a1 、n a2 The strain value of (A) can realize F y Measuring (2); at F z Under the action, the second detection piece 114 in the beam a-a (a long beam formed by two parallel arms and the first intermediate support shaft 17) and the beam b-b (a long beam formed by the other two parallel arms and the first intermediate support shaft 17) of the first elastic body 11 is subjected to bending deformation so that the point m is deformed a1 、m a2 、m b1 、m b2 Where strain is generated, passing through the measuring point m a1 、m a2 、m b1 、m b2 The strain value of (A) can realize F z The measurement of (2); at M x Under the action of the force, the second detecting block 114 in the beam b-b of the first elastic body 11 is subjected to bending deformation so as to cause the point m b1 、m b2 Where strain is generated, passing through the measuring point m b1 、m b2 Can realize M according to the strain value x The measurement of (2); at M y Under the action of the force, the second detecting block 114 in the beam a-a of the first elastic body 11 generates bending deformation so as to cause the point m a1 、m a2 Where strain is generated, passing through the measuring point m a1 、m a2 Can realize M according to the strain value y The measurement of (2); at M z Under the action of the first elastic body 11, the first detection block 113 in the beam a-a and the beam b-b is subjected to bending deformation so as to cause the point n a1 、n a2 、n b1 、n b2 Where strain is generated, through the measuring point n a1 、n a2 、n b1 、n b2 Can realize M according to the strain value z Measurement of。
(2) Operating principle of traction force sensor 2
The traction force acts on the force-bearing housing 21, and then the second supporting ring 23 acts on the force-bearing end of the second elastic body 22, so that the elastic body generates strain in linear relation with the contact force due to the deformation caused by the force, and the strain gauge (the strain gauge position refers to point m in fig. 9 and 10) attached on the second elastic body 22 is measured c1 、m c2 、m d1 、m d2 And point n in FIG. 9 c1 、n c2 、n d1 、n d2 ) The magnitude of the output strain value realizes the perception of the traction force.
The contact force and moment acting on the force-bearing end of the second elastic body 22 can be decomposed into F x 、F y 、F z And M x 、M y 、M z : at F x Under the action, a portion of the beam body 212 having the third detection through-hole in the beam d-d of the second elastic body 22 (a long beam in which the two parallel second branch beams 26 and the second intermediate support shaft 25 jointly form) is subjected to bending deformation so as to cause a point n d1 、n d2 Where strain is generated, through the measuring point n d1 、n d2 The strain value of (A) can realize F x The measurement of (2); at F y Under the action of the force, the beam c-c (the long beam formed by the two other parallel second support beams 26 and the second middle support shaft 25) of the second elastic body 22 with the third detection through hole is subjected to bending deformation to cause the point n c1 、n c2 Where strain is generated, through the measuring point n c1 、n c2 The strain value of (A) can realize F y Measuring (2); at F z Under the action, the beam c-c and the beam d-d of the second elastic body 22, which have the fourth detection through hole, have the bending deformation of the beam body 213 so that the point m c1 、m c2 、m d1 、m d2 Is strained by measuring point m c1 、m c2 、m d1 、m d2 The strain value of (A) can realize F z Measuring (2); at M x Under the action of the force, the beam body 213 with the fourth detection through hole in the beam d-d of the second elastic body 22 is bent and deformed to cause the point m d1 、m d2 Where strain is generated, passing through the measuring point m d1 、m d2 Can realize M according to the strain value x Measuring (2); at M y Under the action of the force, the beam body 213 with the fourth detecting through hole in the beam c-c of the second elastic body 22 is bent and deformed to cause the point m c1 、m c2 Is strained by measuring point m c1 、m c2 Can realize M according to the strain value y Measuring (2); at M z Under the action of the force, the beam c-c and the beam d-d of the second elastic body 22, which have the part of the beam body 212 with the third detection through hole, are bent and deformed so that the point n c1 、n c2 、n d1 、n d2 Where strain is generated, through the measuring point n c1 、n c2 、n d1 、n d2 Can realize M according to the strain value z Is measured.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (4)
1. A six-dimensional force sensor capable of sensing contact force and traction force is characterized by comprising a contact force sensor and a traction force sensor, wherein,
the contact force sensor comprises a first elastic body, a fixed flange, a first fixed support ring and a fixed shell, wherein the first elastic body comprises a contact force detection crossed beam and a stressed disc, the contact force detection crossed beam comprises a first middle support shaft and four first support beams which are uniformly arranged on the first middle support shaft in the circumferential direction, the first middle support shaft is fixedly connected with the stressed disc, the fixed flange is provided with four first clamping grooves at positions corresponding to the four first support beams, the first fixed support ring is also provided with four second clamping grooves at positions corresponding to the four first support beams, one end of each first support beam respectively extends into one first clamping groove and one second clamping groove, the first fixed support ring is fixedly connected to the fixed flange, the fixed shell is fixedly connected to the first fixed support ring, and the stressed disc is exposed out of the fixed shell;
each first supporting beam is provided with a first detection through hole and a second detection through hole respectively, the first detection through hole and the second detection through hole are arranged along the longitudinal direction of the first supporting beam, the distance from the first detection through hole to the first middle supporting shaft is smaller than the distance from the second detection through hole to the first middle supporting shaft, the depth direction of the first detection through hole is consistent with the longitudinal direction of the first middle supporting shaft, the depth direction of the second detection through hole is consistent with the transverse direction of the first middle supporting shaft, and strain gauges for measuring contact force are attached to the outer wall of the first supporting beam at positions corresponding to the first detection through hole and the second detection through hole respectively;
the traction sensor comprises a stressed shell, and a second elastic body and a second fixed supporting ring which are arranged in the stressed shell, wherein the second elastic body is provided with a traction detection crossed beam, the traction detection crossed beam comprises a second middle supporting shaft and four second supporting beams which are uniformly arranged on the second middle supporting shaft in the circumferential direction, the second middle supporting shaft is fixedly connected with the fixed flange, the inner wall of the stressed shell is provided with four bosses at positions corresponding to the four second supporting beams, each second supporting beam is respectively placed on one boss, the second fixed supporting ring is provided with four third clamping grooves at positions corresponding to the four second supporting beams, one end of each second supporting beam respectively extends into one third clamping groove, and the second fixed supporting ring is fixedly arranged on the inner wall of the stressed shell and tightly presses each second supporting beam on the boss;
each second supporting beam is provided with a third detection through hole and a fourth detection through hole respectively, the third detection through hole and the fourth detection through hole are arranged along the longitudinal direction of the second supporting beam, the distance from the third detection through hole to the second middle supporting shaft is smaller than the distance from the fourth detection through hole to the second middle supporting shaft, the depth direction of the third detection through hole is consistent with the longitudinal direction of the second middle supporting shaft, and the depth direction of the fourth detection through hole is consistent with the transverse direction of the second middle supporting shaft; strain gauges for measuring traction force are respectively attached to the outer wall of the second supporting beam at positions corresponding to the third detection through hole and the fourth detection through hole;
a gap is formed between the end face of one end, far away from the first middle support shaft, of each first support beam and a face, parallel to the end face, of the first clamping groove of the fixed flange and the second clamping groove of the first fixed support ring;
and a gap exists between the end face of one end of each second supporting beam, which is far away from the second middle supporting shaft, and a face parallel to the end face in the third clamping groove of the second fixed supporting ring.
2. The six-dimensional force sensor capable of sensing contact force and traction force according to claim 1, wherein each of the first support beams comprises a first detection block and a second detection block, one end of the first detection block is fixed on the first intermediate support shaft, the other end of the first detection block is connected with the second detection block, and the first detection block and the second detection block are respectively provided with a first detection through hole and a second detection through hole.
3. The six-dimensional force transducer capable of sensing contact force and traction according to claim 1, wherein the mounting flange extends into the force-bearing housing.
4. The six-dimensional force sensor capable of sensing contact force and traction force of claim 1, wherein the second elastic body further comprises a fixing and supporting disc fixedly connected with the second middle supporting shaft, and the fixing and supporting disc is provided with a connecting hole for connecting the traction force sensor to the tail end of the robot.
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